📄 sldemo_absbrake_digest3.mdl
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Position [200, 133, 245, 167]
Gain "m*g/4"
Port {
PortNumber 1
Name "Ff"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
DataLoggingName "%<SignalLabel>"
}
}
Block {
BlockType Lookup
Name "mu-slip\nfriction curve"
Position [140, 135, 175, 165]
InputValues "slip"
OutputValues "mu"
}
Block {
BlockType Outport
Name "BrakingForce"
Position [330, 143, 360, 157]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
Name "yout"
Labels [1, 0]
SrcBlock "Mux"
SrcPort 1
Points [50, 0; 0, 140]
DstBlock "Relative Slip"
DstPort 1
}
Line {
Name "Vs"
Labels [0, 0]
SrcBlock "Vehicle speed\n(angular)"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
Name "slp"
Labels [0, 1]
SrcBlock "Relative Slip"
SrcPort 1
Points [-165, 0; 0, -135]
Branch {
DstBlock "mu-slip\nfriction curve"
DstPort 1
}
Branch {
Points [0, -85]
DstBlock "Sum1"
DstPort 2
}
}
Line {
Name "Sd"
Labels [0, 0]
SrcBlock "Stopping distance"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "VehicleSpeed"
SrcPort 1
Points [0, 0; 100, 0]
Branch {
Points [0, -30]
DstBlock "Vehicle speed\n(angular)"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "Stopping distance"
DstPort 1
}
}
Line {
SrcBlock "mu-slip\nfriction curve"
SrcPort 1
DstBlock "Weight"
DstPort 1
}
Line {
Name "Ff"
Labels [2, 1]
SrcBlock "Weight"
SrcPort 1
Points [0, 0; 20, 0]
Branch {
Points [0, -65]
DstBlock "Rr"
DstPort 1
}
Branch {
DstBlock "BrakingForce"
DstPort 1
}
}
Line {
SrcBlock "Desired\nrelative\nslip"
SrcPort 1
Points [15, 0]
DstBlock "Sum1"
DstPort 1
}
Line {
Name "tire torque"
Labels [0, 0]
SrcBlock "Rr"
SrcPort 1
DstBlock "Brakes"
DstPort 2
}
Line {
SrcBlock "Sum1"
SrcPort 1
Points [0, 0]
DstBlock "Switch"
DstPort 1
}
Line {
Name "BrakeSignal"
Labels [0, 0]
SrcBlock "Switch"
SrcPort 1
Points [130, 0]
DstBlock "Brakes"
DstPort 1
}
Line {
SrcBlock "No Brake"
SrcPort 1
Points [5, 0; 0, -35]
DstBlock "Switch"
DstPort 3
}
Line {
SrcBlock "BrakeSignal"
SrcPort 1
Points [0, 0]
DstBlock "Switch"
DstPort 2
}
Line {
Name "Ww"
Labels [0, 0]
SrcBlock "Brakes"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Vehicle"
Ports [1, 1]
Position [165, 116, 300, 174]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskHideContents off
System {
Name "Vehicle"
Location [570, 400, 963, 541]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "250"
Block {
BlockType Inport
Name "Force"
Position [25, 48, 55, 62]
IconDisplay "Port number"
}
Block {
BlockType Gain
Name "-1/m"
Position [90, 33, 130, 77]
ShowName off
Gain "-1/m"
}
Block {
BlockType Terminator
Name "Terminator"
Position [240, 55, 260, 75]
}
Block {
BlockType Integrator
Name "Vehicle\nspeed"
Ports [1, 2]
Position [180, 28, 215, 77]
InitialCondition "v0"
LimitOutput on
UpperSaturationLimit "1000"
LowerSaturationLimit "0"
ShowSaturationPort on
IgnoreLimit off
}
Block {
BlockType Outport
Name "VehicleSpeed"
Position [315, 33, 345, 47]
IconDisplay "Port number"
BusOutputAsStruct off
}
Line {
SrcBlock "-1/m"
SrcPort 1
Points [0, 0]
DstBlock "Vehicle\nspeed"
DstPort 1
}
Line {
SrcBlock "Vehicle\nspeed"
SrcPort 2
DstBlock "Terminator"
DstPort 1
}
Line {
SrcBlock "Force"
SrcPort 1
Points [0, 0]
DstBlock "-1/m"
DstPort 1
}
Line {
SrcBlock "Vehicle\nspeed"
SrcPort 1
DstBlock "VehicleSpeed"
DstPort 1
}
}
}
Block {
BlockType SignalViewerScope
Name "Scope"
Ports []
Position [20, 15, 60, 55]
IOType "viewer"
List {
ListType IOSignalStrings
set0ParseKeys "30"
set0Sigs "Tires/Brakes/Brake pressure:o1"
}
Location [-3, 335, 1075, 1027]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
ShowDataMarkers off
ShowLegends off
TimeRange "15"
YMin "0"
YMax "800"
DataFormat "Array"
MaxDataPoints "7500"
RefreshTime 0.035000
Disabled off
}
Block {
BlockType SignalViewerScope
Name "Scope1"
Ports []
Position [20, 15, 60, 55]
IOType "viewer"
List {
ListType IOSignalStrings
set0ParseKeys "30,27"
set0Sigs "Tires/Brakes/Force & torque:o1Tires/Brakes/Ti"
"re Torque:o1"
}
Location [275, 389, 1122, 819]
Open on
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
ShowDataMarkers off
ShowLegends on
LegendLocations "705.3333 359.3333 118 "
" 36"
TimeRange "15"
YMin "0"
YMax "1"
SaveName "ScopeData1"
DataFormat "Array"
MaxDataPoints "7500"
RefreshTime 0.035000
Disabled off
}
Block {
BlockType SignalViewerScope
Name "Scope2"
Ports []
Position [20, 15, 60, 55]
IOType "viewer"
List {
ListType IOSignalStrings
set0ParseKeys "10"
set0Sigs "Vehicle:o1"
}
Location [188, 365, 512, 604]
Open off
NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
ShowDataMarkers off
ShowLegends off
SaveName "ScopeData2"
DataFormat "Array"
LimitDataPoints off
MaxDataPoints "7500"
RefreshTime 0.035000
Disabled off
}
Line {
SrcBlock "Braking"
SrcPort 1
DstBlock "Tires"
DstPort 1
}
Line {
Labels [0, 0]
SrcBlock "Vehicle"
SrcPort 1
Points [15, 0; 0, -10]
DstBlock "Tires"
DstPort 2
}
Line {
SrcBlock "Tires"
SrcPort 1
Points [45, 0; 0, 100; -420, 0]
DstBlock "Vehicle"
DstPort 1
}
Annotation {
Name "Modeling an Anti-Lock Braking System (ABS) "
Position [357, 22]
VerticalAlignment "top"
UseDisplayTextAsClickCallback off
FontSize 14
}
Annotation {
Name "Copyright 1990-2006 The MathWorks Inc."
Position [396, 281]
UseDisplayTextAsClickCallback off
}
}
}
MatData {
NumRecords 2
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}
}
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